US4365573A - Steering gear for ships - Google Patents

Steering gear for ships Download PDF

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Publication number
US4365573A
US4365573A US06/159,627 US15962780A US4365573A US 4365573 A US4365573 A US 4365573A US 15962780 A US15962780 A US 15962780A US 4365573 A US4365573 A US 4365573A
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Prior art keywords
liquid
tank
level
operative
pump
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Expired - Lifetime
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US06/159,627
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English (en)
Inventor
John R. Jamieson
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Vickers Ltd
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Vickers Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/06—Steering by rudders
    • B63H25/08—Steering gear
    • B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
    • B63H25/18—Transmitting of movement of initiating means to steering engine
    • B63H25/22—Transmitting of movement of initiating means to steering engine by fluid means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/06—Steering by rudders
    • B63H25/08—Steering gear
    • B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
    • B63H25/26—Steering engines
    • B63H25/28—Steering engines of fluid type
    • B63H25/30—Steering engines of fluid type hydraulic

Definitions

  • This invention relates to steering gear for ships and particularly to steering gear of the type in which liquid under pressure is used as the medium for applying the steering force.
  • a ship's steering gear of the type employing liquid under pressure as the medium for applying the steering force customarily incorporates a rudder having a stock to the upper end of which there is attached a cross bar, opposite ends of the cross bar being arranged to pistons slidable within cylinders to which liquid under pressure is admitted or discharged according to the steering action being performed.
  • the customary arrangement is for four single acting cylinders to be employed arranged two in opposition to one another at each end of the cross bar. Where space is limited two double acting cylinders may, however, be employed.
  • Liquid is pumped to the cylinders from at least one liquid pump by way of valves which are closed and opened by the steering control, the arrangement being that when the rudder is being swung in any particular direction two cylinders are being fed with liquid under pressure.
  • two cylinders diagonally opposite one another are being fed with liquid under pressure and the other two cylinders diagonally opposite one another are discharging.
  • the one piston is pushing and the other piston is pulling.
  • the two cylinders on the same side of the cross bar are usually also connected by way of shock and by-pass valves which are arranged to open when excessive pressure arises in either of the cylinders and the shock and by-pass valve arrangement usually includes a manually operated valve which can be opened to provide a permanent connection between the two cylinders or between the opposite sides of the piston of each double acting cylinder.
  • a steering gear of the type described according to the invention incorporates two liquid-operated thruster units each arranged to provide power movements alternatively in opposite rotational direction to a steering member, two pumps, two liquid supply tanks one for each pump, two pipe systems each containing a pump and a thruster unit, a liquid-conducting connection between the two pipe systems, an isolating valve device operable to close the liquid-conducting connection to isolate the pipe systems from one another, two two-level liquid detecting devices one in each tank, each arranged to detect and issue separate consecutive signals when the liquid level in the associated tank drops to a first lower level and then a second lower level and emergency control means arranged to be operative to close the isolating valve device when a liquid-detecting device operates to signal that the first lower level has been reached in the associated tank and also to be operative to control the pumps so that when a liquid-level detecting device signals that the second lower level has been reached in a tank to render inoperative the pump fed from that tank and to render operative the other pump if it is not already
  • the steering gear may be arranged for automatic or manual emergency operation.
  • the emergency control means may be arranged so that when rendering a chosen pump inoperative it interconnects all the liquid-receiving spaces of the thrusters of the thruster unit associated with that pump to provide free passage of liquid between all said spaces.
  • the emergency control means is arranged to operate automatically when a two-level liquid detecting device detects a drop in liquid level to the first lower liquid level in the associated tank to issue a signal to the isolating valve device and on a further drop in liquid level to the second lower liquid level in the associated tank to render inoperative the pump fed from the associated tank and render operative the other pump if it is not already operative.
  • the two-level liquid detecting device in an automatic system may also be arranged to activate an alarm device on detecting a drop in liquid level in a tank.
  • the automatic system may include a device operative only when both pumps are running to arrange that the normal two consecutive actions of the liquid level detecting devices, i.e. to close the isolating valve device and to render inoperative the associated pump and render operative the other pump are both performed when the liquid level reaches the first lower level.
  • the automatic system may incorporate a selection facility e.g. a switching device operative to suppress the signal issued by a preselected one of the liquid detecting devices if the liquid level detecting devices issue simultaneous signals indicating a simultaneous drop to the first lower liquid level in both tanks.
  • liquid detecting devices in the two tanks may be located at different distances below the normal operating liquid levels in the two tanks to provide the selection facility by detecting different first lower liquid level, the device located nearer the surface becoming operative first when the levels in the two tanks drop at the same rate.
  • the emergency control means incorporates manually operable switches in the electrical circuits of the driving motors for the pumps and there is provided a reset device operative to render both pumps operative and to cancel operation of the isolating valve devices whereby to open the liquid-conducting connection between the two pipe systems.
  • the alarm devices may be audible or visual devices.
  • the emergency control means may be grouped at a control point, for example a control panel or console, which may incorporate alarm devices arranged to receive warning signals issued by the liquid level detecting devices, a cancelling device for deactivating the alarm devices, switches operative to control the isolating valve device, a reset device for resetting the isolating valve device to open the liquid-conducting connection, switches for starting and stopping the driving motors of the pumps, and tell tale indicating devices arranged to indicate a change in the liquid level occurring in a tank, and the operational state of the pumps and of the isolating valves.
  • a test button arranged when actuated to feed operating current simultaneously to all the tell tale devices to test that they are all in working order.
  • Two or more such control panels or consoles may be provided at points remote from one another.
  • the two liquid supply tanks may be connected to one another at a level above that of the two-level liquid detecting devices.
  • the two liquid supply tanks are constituted by the portions of a tank on each side of a weir dividing the tank, the normal operating liquid level being above the top of the weir.
  • Each liquid supply tank may comprise a main tank connected to an auxiliary tank in which the associated two-level liquid detector is located, the connection of each main tank to the associated auxiliary tank including a test valve having two operative settings in one of which the main tank is freely connected to the associated auxiliary tank so that the liquid levels in the two tanks are the same and in the other of which the auxiliary tank is isolated from the associated main tank and is connected to a drain.
  • the isolating valve device may be arranged to be pressure-operated and to be open when unpressurized.
  • a by-pass pipe incorporating a by-pass valve may be provided to connect the liquid-receiving spaces of each thruster unit.
  • the by-pass valve may be of the pressure-operated type being arranged to be closed when unpressurized.
  • a servo-system incorporating two electrically operated pilot valves normally closed when unenergized and each arranged when energized to provide a connection for operating liquid from a respective liquid supply to a fluid pressure operated changeover valve arranged on energization of either pilot valve to connect the energized pilot valve to the isolating valve device and to the by-pass valve of the other liquid circuit, each pilot valve being electrically connected to the two-level liquid-detecting device in the respective supply tank, each pilot valve being arranged to be energized when the liquid level in its respective tank drops to the first lower level in that tank.
  • Each servo-system may include an auxiliary pump arranged to supply operating pressure to the servo-system and may also be arranged to operate as a lubricating pump for the main pump of the associated pipe system.
  • FIG. 2 illustrates a control panel for use with a gear arranged for manual control
  • FIG. 3 illustrates an alternative embodiment to that shown in FIG. 1.
  • the control panel constitutes the emergency control means in a manually controlled steering gear.
  • 1, 2, 3 and 4 denote respective single acting thruster cylinders of which 1 and 2 constitute one thruster unit and 3 and 4 constitute the other thruster unit.
  • the pistons of the cylinders are coupled to a cross bar 5 fixed to a rudder stock 6.
  • 7 and 8 denote two liquid circuits, the circuit 7 being associated with the thruster cylinder 2 and the circuit 8 being associated with the thruster cylinder 1.
  • 9 and 10 denote liquid circuits of which the circuit 9 is associated with the thruster cylinder 4 and the circuit 10 is associated with the thruster cylinder 3.
  • the liquid circuits 7 and 8 form a pipe system connected to the branches of a reversible variable delivery pump 11 and the liquid circuits 9 and 10 are connected to the branches of a reversible variable delivery pump 12.
  • All the piping associated with the pumps 11 and 12 and the thruster units constituted by the cylinders 1, 2 and 3, 4 constitute pipe systems referred to for convenience as pipe systems A and B respectively.
  • the variable delivery pump 11 operates in conjunction with an auxiliary pump 13 and the variable delivery pump 12 operates in conjunction with an auxiliary pump 14.
  • 15 denotes a pressure-operated by-pass valve intercalated in a by-pass passage 16 connecting the two liquid pressure circuits 7 and 8
  • 17 denotes a pressure-operated by-pass valve intercalated in a by-pass passage 18 connecting the liquid circuits 9 and 10.
  • the valves 15 and 17 are so arranged that they are closed when unpressurized.
  • interconnecting pipe 19 denotes an interconnecting pipe interconnecting the liquid circuits 7 and 9
  • 20 denotes an interconnecting pipe interconnecting the circuits 8 and 10.
  • the interconnecting pipes 19 and 20 constitute the liquid conducting connection between the two pipe systems A and B.
  • the valves 21 and 22 constitute the isolating valve device.
  • the valves 21 and 22 are open when unpressureized.
  • the outputs of the auxiliary pumps 13 and 14 are fed respectively by conduits 23 and 24 which are connectible by means of respective electrically operated pilot valves 25 and 26 to a pressure-operated changeover valve 27 which contains a movable member reciprocable between two extreme end positions.
  • the conduits 23 and 24 are also arranged to be connectible to the by-pass valves 17 and 15 respectively by means of the pilot valves 25 and 26.
  • the pilot valves 25 and 26 are in the positions shown when they are unenergized.
  • the main pumps 11 and 12 and the auxiliary pumps 13 and 14 are arranged to draw liquid from a tank 29, in effect a single tank forming two separate tanks 29A and 29B by a weir 30.
  • auxiliary tanks 31A and 31B Open to the separate tanks separated by the weir 30 are two auxiliary tanks 31A and 31B so that the liquid in these auxiliary tanks 31A and 31B is at the same level as the liquid in the main tanks 29A and 29B.
  • auxiliary tank 31A Located in the auxiliary tank 31A there are three liquid level switches A1, A2 and A3 constituting a two-level liquid-detecting device.
  • the switch A3 is below the level of the switches A1 and A2, and in the auxiliary tank 31B there are located three liquid level switches B1, B2 and B3 constituting another two-level liquid-detecting device.
  • the switches A1 and B1 are connected to an alarm device to be operated when the liquid level drops in the associated tank to a first lower level.
  • the switches A2 and B2 which operate at the same first lower liquid level as the switches A1 and B1 are connected to control operation of the pilot valves 25 and 26 respectively, the arrangement being that if the liquid level drops to the first lower level in one of the tanks the respective pilot valve 25 or 26 is energized.
  • the switch A3 is connected into the power circuit of the driving motor of the pump 11 so that if the liquid level drops to the second lower level the pump 11 will be stopped and the main pump 12 and the auxiliary pump 14 started if they are not already running, the pilot valve 26 being thereupon energized.
  • the switch B3 is operative to stop the pump 12 and start the pump 11 and the auxiliary pump 13 if they are not already running. There may be optionally provided for a reason to be explained a switching device operative only when both pumps are in use to cause the switches A2 and B2 to be arranged to perform additionally the switching functions of A3 and B3.
  • valves 32 are manually operable valves which are normally permanently open and the valves 33 are manually operable valves which are normally permanently closed.
  • the valves 32 and 33 are not part of the safety apparatus and are operated only when it is necessary to override the automatic steering gear or to perform maintenance or repairs.
  • test valves 34 and 35 denote test valves by which a leak can be simulated in either of the pipe systems A or B to test that the safety apparatus is in working condition.
  • 36 denotes a control panel presenting several tell tale indicating devices and the appropriate switches for operating the system under manual control.
  • 37 denotes a tell tale arranged to indicate a drop in level in an emergency storage tank arranged to supply the storage tank 29 when oil is lost from the system. The emergency tank is not part of the present control system and is not illustrated.
  • 38 and 39 are tell tales arranged to indicate when the level in the tank 29 A has dropped to the first lower level and to the second lower level respectively.
  • 40 and 41 are tell tales arranged to indicate when the level in the tank 29B has dropped to the first lower level and the second lower level respectively.
  • 42 and 43 are arranged to indicate a failure in the servo-systems of system A and system B respectively e.g.
  • 44 denotes an operating button for cancelling operation of the alarm associated with the warning indicated by the devices 38, 39, 40.
  • 45 and 46 denote respectively start and stop buttons for the motor driving the pump associated with system A and 47 denotes indicator lamps showing which button 45 or 46 has been pressed.
  • 48 and 49 denote respectively start and stop buttons for the motor driving the pump associated with system B and 50 denotes indicator lamps showing which bottom 48 or 49 has been pressed.
  • 51 denotes an operating button arranged to operate the valves 21 and 22 constituting the isolating valve device and for interconnecting the liquid receiving spaces of the thruster unit of system A (by opening the valve 15).
  • 52 denotes an indicator lamp showing that the button 51 has been operated.
  • 53 denotes a button arranged to operate the valves 21 and 22 constituting the isolating valve device and also to interconnect the liquid-receiving spaces of the thruster unit of system B (by opening the valve 17).
  • 54 denotes an indicator arranged to show when button 53 has been pressed.
  • 55 denotes a reset button operation of which is arranged to open the valves 21 and 22, to close the valve 15 or 17 whichever one is open, and to render both pumps 11 and 12 operative.
  • 56 denotes a test button operation of which activates all the indicating devices 37, 38, 39, 40, 41, 42, 43, 47, 50, 52 and 54 so that they can be seen to be all operative and capable of giving the required information should the situation arise.
  • the switches A2 and A3 in the tank 31A are arranged to operate the tell tales 38 and 39 (FIG. 2) and the switches B2 and B3 in the tank 31B are arranged to operate the tell tales 40 and 41.
  • the valves 25 and 26 in the manual control gear are under the control of the buttons 51 and 53 respectively.
  • a steering gear as described may be operated for steering purposes in several different ways.
  • one pump may be operated to supply reduced power to all four thruster cylinders or in rough conditions or in difficult sea channels where full steerage power is required both pumps may be operated to supply full power to all four thruster cylinders.
  • This switch when activated now shuts down the pump 11 and the auxiliary pump 13, energizes the pump 12 and its auxiliary pump 14 and energizes the pilot valve 26. Pressure now drops in the system A and in the associated servo-system and rises in the system B and in the associated servo-system.
  • the starting of the pumps 12 and 14 coupled with energization of the pilot valve 26 directs pressure fluid now to the other side of the changeover valve 27 and this valve now moves over to the position in which pressure liquid from the conduit 26 is now applied to the conduit 28 thus causing the valves 21 and 22 to remain closed, or to reclose immediately if they had opened.
  • the system B is thus maintained isolated from the system A.
  • the leak is now isolated from the circuit containing the pumps 12 and 14 steering may now continue at half power using the thruster unit of system B, i.e. the cylinders 3 and 4.
  • the pressure liquid applied through the valve 26 is also applied to the by-pass valve 15 while the pressure is removed from the by-pass valve 17.
  • the cylinders 1 and 2 are then interconnected and the pistons can move freely, the steering power being applied by the cylinders 3 and 4.
  • the preset selector facility referred to provides preference of operation of one liquid system over the other so that the favoured pump continues running to test for the position of the leak and depending on whether the leak is in its associated pipe system or is in the other pipe system, cuts itself out and cuts in the other system or remains operating and keeps the other liquid system inoperative, all in the manner already described.
  • a signal suppressing switch is indicated at SSS in FIG. 1.
  • the reset button is pressed to close the isolating valve device and the open by-pass valves thus restoring the gear to normal operating conditions.
  • the steering gear of the invention has the great advantage that when working normally all the components of the safety apparatus are unused and suffer no wear. They are brought into use only when a leak occurs. They should thus have a long trouble-free life.
  • test valves 34 and 35 are manipulated. This can be done in several different ways with either or with both pumps 11 and 12 running so as to simulate the occurrence of leaks in the pipe system A and the pipe system B and under different running conditions.
  • setting the valve 34 or 35 to connect the auxiliary tank 31A or 31B to drain causes the liquid level in the tanks 29A or 29B or 31A or 31B to drop and simulate a leak.
  • running the pump 11 only and discharging only enough liquid from the auxiliary tank 31A to bring the liquid level to the first lower level, that of the switch A2 then resetting the valve 34 to stop further discharge of liquid from the auxiliary tank 31A simulates a leak in the system B. Allowing the auxiliary tank 31A to discharge to the second lower level, that of the switch A3, simulates a leak in the system A.
  • the switching device capable of providing the selection facility and the device operative to combine the function of the switches A2 and A3 and B2 and B3 may employ conventional circuitry and do not require to be described.
  • the two-level liquid detecting devices A1, A2, A3 and B1, B2, B3 are located in the respective tanks 31A, 31B at different distances below the normal operating liquid levels in the two tanks to provide the selection facility by detecting different first lower liquid levels in the two tanks.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Processing Of Meat And Fish (AREA)
  • Transmission Devices (AREA)
  • Actuator (AREA)
  • Road Signs Or Road Markings (AREA)
  • Graft Or Block Polymers (AREA)
  • Pens And Brushes (AREA)
  • Power Steering Mechanism (AREA)
US06/159,627 1979-06-22 1980-06-16 Steering gear for ships Expired - Lifetime US4365573A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB7921854 1979-06-22
GB7921854 1979-06-22

Publications (1)

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US4365573A true US4365573A (en) 1982-12-28

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US06/159,627 Expired - Lifetime US4365573A (en) 1979-06-22 1980-06-16 Steering gear for ships

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US (1) US4365573A (fr)
EP (1) EP0021732B2 (fr)
JP (1) JPS6033717B2 (fr)
KR (1) KR840002121B1 (fr)
AT (1) ATE5805T1 (fr)
CA (1) CA1158958A (fr)
DE (1) DE3066082D1 (fr)
ES (1) ES492633A0 (fr)
NO (1) NO801857L (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4532878A (en) * 1984-01-06 1985-08-06 Hitachi Zosen Corporation Apparatus for abrasive cleaning
US4570388A (en) * 1984-01-09 1986-02-18 Hitachi Zosen Corporation Apparatus for abrasive cleaning
WO1997002178A1 (fr) * 1995-07-03 1997-01-23 Jered Brown Brothers Inc. Mecanisme de chariot de barre de rapson ameliore
US20130146386A1 (en) * 2010-08-19 2013-06-13 Doosan Infracore Co., Ltd. Emergency steering system of construction equipment
CN111137431A (zh) * 2020-02-27 2020-05-12 广西荣华船舶科技有限公司 一种新型船舶液压舵机
CN119659890A (zh) * 2025-02-24 2025-03-21 上海交通建设总承包有限公司 一种铺排船舵桨的智能化应急控制系统

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA1181323A (fr) * 1982-04-23 1985-01-22 Bruce C. Raymond Systeme d'isolement sur direction assistee par voie hydraulique
JP2582551B2 (ja) * 1986-05-13 1997-02-19 日本電信電話株式会社 エポキシアクリレ−ト樹脂及びその製法
JPH0729982B2 (ja) * 1986-03-24 1995-04-05 日本電信電話株式会社 ジアクリレート化合物
EP0780368B1 (fr) * 1995-12-21 1999-07-21 Akzo Nobel N.V. Procédé de préparation de l'acide thioglycolique
JP4738456B2 (ja) * 2008-08-14 2011-08-03 三菱重工業株式会社 舵取機
NO330414B1 (no) * 2009-12-09 2011-04-11 Rolls Royce Marine As Lofting av rorstamme pa skip

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4114720A (en) * 1976-02-27 1978-09-19 Volvo Bm Ab Dual steering system for vehicles
US4136753A (en) * 1977-02-11 1979-01-30 Fluid Controls, Inc. Vehicle power steering system
US4147093A (en) * 1977-03-04 1979-04-03 J. I. Case Company Self-actuating fluid holding system
GB2040246A (en) * 1979-01-25 1980-08-28 Donkin & Co Ltd Steering apparatus

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Publication number Priority date Publication date Assignee Title
FR753965A (fr) * 1933-10-27
GB704907A (en) * 1951-06-28 1954-03-03 Paul Duclos Ets Hydraulic steering gear
US2845778A (en) * 1955-11-21 1958-08-05 Oilgear Co Hydraulic power system
US3162014A (en) * 1961-12-26 1964-12-22 Mercier Olaer Patent Corp Hydraulic control system
FR1323534A (fr) * 1961-12-29 1963-04-12 Dispositif de commande d'un organe mobile pivotant notamment pour gouvernail de bateau
DE1290842B (de) * 1965-07-17 1969-03-13 Mercier Bernard Wegabhaengige Nachlaufsteuerung fuer eine Einrichtung mit hydraulischen Stellmotoren, insbesondere fuer Rudermaschinen
US3333413A (en) * 1966-12-28 1967-08-01 Mercier Jean Electro-hydraulic control system
FR1523466A (fr) * 1967-03-24 1968-05-03 Dispositif de commande d'une direction de navire ou autre véhicule
JPS6036996B2 (ja) * 1977-10-29 1985-08-23 三菱重工業株式会社 舶用操舵装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4114720A (en) * 1976-02-27 1978-09-19 Volvo Bm Ab Dual steering system for vehicles
US4136753A (en) * 1977-02-11 1979-01-30 Fluid Controls, Inc. Vehicle power steering system
US4147093A (en) * 1977-03-04 1979-04-03 J. I. Case Company Self-actuating fluid holding system
GB2040246A (en) * 1979-01-25 1980-08-28 Donkin & Co Ltd Steering apparatus

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4532878A (en) * 1984-01-06 1985-08-06 Hitachi Zosen Corporation Apparatus for abrasive cleaning
US4570388A (en) * 1984-01-09 1986-02-18 Hitachi Zosen Corporation Apparatus for abrasive cleaning
WO1997002178A1 (fr) * 1995-07-03 1997-01-23 Jered Brown Brothers Inc. Mecanisme de chariot de barre de rapson ameliore
US5628268A (en) * 1995-07-03 1997-05-13 Jered Brown Brothers, Inc. Rapson-slide steering mechanism
US20130146386A1 (en) * 2010-08-19 2013-06-13 Doosan Infracore Co., Ltd. Emergency steering system of construction equipment
US9067620B2 (en) * 2010-08-19 2015-06-30 Doosan Infracore Co., Ltd. Emergency steering system of construction equipment
CN111137431A (zh) * 2020-02-27 2020-05-12 广西荣华船舶科技有限公司 一种新型船舶液压舵机
CN119659890A (zh) * 2025-02-24 2025-03-21 上海交通建设总承包有限公司 一种铺排船舵桨的智能化应急控制系统

Also Published As

Publication number Publication date
EP0021732B2 (fr) 1988-04-13
ATE5805T1 (de) 1984-01-15
DE3066082D1 (en) 1984-02-16
KR840002121B1 (ko) 1984-11-19
NO801857L (no) 1980-12-23
ES8102034A1 (es) 1980-12-16
EP0021732A1 (fr) 1981-01-07
JPS6033717B2 (ja) 1985-08-05
EP0021732B1 (fr) 1984-01-11
ES492633A0 (es) 1980-12-16
CA1158958A (fr) 1983-12-20
JPS5650896A (en) 1981-05-08
KR830002621A (ko) 1983-05-30

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